Related papers: EMU: Efficient Muscle Simulation In Deformation Sp…
Soft robots achieve functionality through tight coupling among geometry, material composition, and actuation. As a result, effective design optimization requires these three aspects to be considered jointly rather than in isolation. This…
This work presents the Griffith-type phase-field formation at large deformation in the framework of adaptive edge-based smoothed finite element method (ES-FEM) for the first time. Therein the phase-field modeling of fractures has attracted…
Meshless methods are a promising candidate to reliably simulate materials undergoing large deformations. Unlike mesh based methods like the FEM, meshless methods are not limited in the amount of deformation they can reproduce since there…
The Finite element method (FEM) has long served as the computational backbone for topology optimization (TO). However, for designing structures undergoing large deformations, conventional FEM-based TO often exhibits numerical instabilities…
The success of pretrain-finetune paradigm brings about the release of numerous model weights. In this case, merging models finetuned on different tasks to enable a single model with multi-task capabilities is gaining increasing attention…
The theory of spin models intersects with condensed matter physics, complex systems, graph theory, combinatorial optimization, computational complexity and neural networks. Many ensuing applications rely on the fact that complicated spin…
Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…
Simulating the complex interactions between soft tissues and rigid anatomy is critical for applications in surgical training, planning, and robotic-assisted interventions. Traditional Finite Element Method (FEM)-based simulations, while…
Objective: Studying motor units (MUs) is essential for understanding motor control, the detection of neuromuscular disorders and the control of human-machine interfaces. Individual motor unit firings are currently identified in vivo by…
Thin beams made of magnetorheological elastomers embedded with hard magnetic particles (hard-MREs) are capable of large deflections under an applied magnetic field. We propose a comprehensive framework, comprising a beam model and 3D finite…
The accuracy and fidelity of deformation simulations are highly dependent upon the underlying constitutive material model. Commonly used linear or nonlinear constitutive material models only cover a tiny part of possible material behavior.…
Surgical robot simulation platform plays a crucial role in enhancing training efficiency and advancing research on robot learning. Much effort have been made by scholars on developing open-sourced surgical robot simulators to facilitate…
Multimodal human action understanding is a significant problem in computer vision, with the central challenge being the effective utilization of the complementarity among diverse modalities while maintaining model efficiency. However, most…
The paper is concerned with the development of efficient and accurate solution procedures for the isogeometric boundary element method (BEM) when applied to problems that contain inclusions that have elastic properties different to the…
One of the major issues in the computational mechanics is to take into account the geometrical complexity. To overcome this difficulty and to avoid the expensive mesh generation, geometrically unfitted methods, i.e. the numerical methods…
Ankle exoskeletons have garnered considerable interest for their potential to enhance mobility and reduce fall risks, particularly among the aging population. The efficacy of these devices relies on accurate real-time prediction of the…
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate…
Electrical and elasticity imaging are promising modalities for a suite of different applications including medical tomography, non-destructive testing, and structural health monitoring. These emerging modalities are capable of providing…
Harnessing modern parallel computing resources to achieve complex multi-physics simulations is a daunting task. The Multiphysics Object Oriented Simulation Environment (MOOSE) aims to enable such development by providing simplified…
Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework training mobile manipulation policies from human mobile…